An I2C compatible Display Data Channel (DDC) interface is available with LEA-6 and NEO-6 modules for serial communication. For more information about DDC implementation refer to the u-blox 6 Receiver Description including Protocol Specification [3]. Background information about the DDC interface is available in Appendix C.1. u-blox 6 GPS receivers normally run in I2C slave mode. Master Mode is only supported when external EEPROM is used to store configuration. No other nodes may be connected to the bus. In this case, the receiver attempts to establish presence of such a non-volatile memory component by writing and reading from a specific location. TX ready indicator (data ready) for LEA-6H (FW 7.01) see 1.7.6
The u-blox 6 DDC interface provides serial communication with u-blox LEON-G100/G200 wireless modules from version LEON-G100/G200-05S and above and LISA.
With u-blox 6, when reading the DDC internal register at address 0xFF (messages transmit buffer), the master must not set the reading address before every byte accessed as this could cause a faulty behavior. Since after every byte being read from register 0xFF the internal address counter is incremented by one saturating at 0xFF, subsequent reads can be performed continuously.

I have a IMU 10DOF ALLINONE IMU ITG3050 HMC5883L BMA180 MS5611 sensor board 5V LLC from csgshop
there isn't this imu on config.h of multiwii 2.1 there is an ALLINONE imu 9d0f but with BMP085 instead of mine MS5611.
with this setting the quad fly well only in acro and in stable, obviously no alt hold mode. In the wingui the alt si always at -120.

I sent a message and he answered to me to solder the jumper but without specify which one .

I tried to change in def.h #if defined(ALLINONE) changing BMP085 with MS5611 worked but after a new reflash now it doesn't work anymore maybe I changed an i2c address that now I can't remember.